CN106697926A - Mechanical arm device capable of forming set to cooperatively feed - Google Patents
Mechanical arm device capable of forming set to cooperatively feed Download PDFInfo
- Publication number
- CN106697926A CN106697926A CN201710125540.6A CN201710125540A CN106697926A CN 106697926 A CN106697926 A CN 106697926A CN 201710125540 A CN201710125540 A CN 201710125540A CN 106697926 A CN106697926 A CN 106697926A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- arm
- groups
- mechanical arm
- actuating arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm device capable of forming a set to cooperatively feed. The device comprises a mobile base, a vertical lifting arm, a rotary driving disc, a clamping jaw driving arm, a clamping jaw 1 and a clamping jaw 2, and is characterized in that the vertical lifting arm and the clamping jaw driving arm are driven by a hydraulic cylinder to realize lifting and clamping adjustment; and the rotary driving disc is driven by a servo motor to drive the clamping jaw driving arm to adjust the rotating direction. The device is arranged in an assembly field, is less in floor space, and can be flexibly matched by single or multiple machines for use to satisfy such multiple assembly demands as feeding and direction adjustment.
Description
Technical field
The invention belongs to industrial machinery arm field, it is adapted to machinery general assembly onsite application, belonging to one kind can in groups coordinate feeding
Robot arm device.
Background technology
With the raising of automatization level, the application of industrial machinery arm and robot gradually increases in modern plant,
Most of regularity operation position realizes robot and industrial machinery arm to artificial replacement, a certain degree of raising and guarantee
Producing line production efficiency and product quality.It has been observed that updated and influenceed by conventional factory building, producing line layout and producing line, at present
When manufacturing enterprise of China Product Assembly scene carries out the transfer of multiplexing interdigit material, because the polytropy of assembly environment and assembler
The complexity of position layout, most of material transfer, turning operation are still completed by human assistance, lack flexible arrangement and operation letter
Just auxiliary equipment, limits efficiency of assembling, waste of manpower cost to a certain degree.
The content of the invention
The technical problem of solution：
To meet in manufacturing enterprise complicated site environment and the confined space, various need such as flexible automatic feeding, tuning are realized
Ask.Can in groups coordinate feeding mechanical arm assembly the invention provides one kind.
Technical scheme：
One kind can in groups coordinate feeding mechanical arm assembly, including mobile foundation（1）, vertical lift arm（2）, rotation driving disk（3）、
Clamping jaw actuating arm（4）, clamping jaw 1（5）, clamping jaw 2（6）, it is characterised in that vertical lift arm（2）With clamping jaw actuating arm（4）By hydraulic pressure
Air cylinder driven, realizes lifting and clamps regulation, rotation driving disk（3）Driven by servomotor, it is real to drive clamping jaw actuating arm（4）Adjust
Section is turned to.
Described mobile foundation（1）Including internal drive motor, the multidirectional movable pulley in bottom and band communication function action control
Device, drives bottom movable pulley to realize straight trip and turn to by internal drive motor, is realized by internal band communication function movement controller
Individually control or in groups coordinate when multi computer communication and action coordinate, the robot arm device can individually, in groups, it is multigroup coordinate make
With.
Described clamping jaw 1（5）, clamping jaw 2（6）Installed in clamping jaw actuating arm（4）On, realized to clamping jaw by internal hydraulic pressure cylinder
1（5）With clamping jaw 2（6）Independent control, meet multi-state functional need.
Beneficial effect：
The invention is being not suitable for the environment utilization such as manufacturing enterprise's erecting yard that large-scale transloading equipment is laid, flexible arrangement, occupation of land
Space is few, and allows the flexible compounding practice of unit, multimachine to switch, and can meet various demands such as feeding, tuning.
Brief description of the drawings
Accompanying drawing 1 is standalone architecture schematic diagram of the present invention；
In figure：
1. mobile foundation, 2. be vertically moved up or down arm, 3. rotation driving disk, 4. clamping jaw actuating arm, 5. clamping jaw 1,6. clamping jaw 2.
Specific embodiment
The present invention is further described presently in connection with accompanying drawing：
One kind can in groups coordinate feeding mechanical arm assembly, including mobile foundation（1）, vertical lift arm（2）, rotation driving disk（3）、
Clamping jaw actuating arm（4）, clamping jaw 1（5）, clamping jaw 2（6）, it is characterised in that vertical lift arm（2）With clamping jaw actuating arm（4）By hydraulic pressure
Air cylinder driven, realizes lifting and clamps regulation, wherein being vertically moved up or down arm（2）Rotation driving disk at the top of drive（3）Complete Z axis side
To movement, to meet different its clamped height needs, rotation driving disk（3）The folder for being fixed on its side is driven by internal servomotor
Pawl actuating arm（4）0-360 ° of scope rotation is realized, to meet different claming angle needs.
Described mobile foundation（1）Including internal drive motor, the multidirectional movable pulley in bottom and band communication function action control
Device, drives bottom movable pulley to realize straight trip and turn to by internal drive motor, is realized by internal band communication function movement controller
Individually control or in groups coordinate when multi computer communication and action coordinate, the robot arm device can individually, in groups, it is multigroup coordinate make
With, you can by operating platform, while control one or more unit, control many units simultaneously cooperating when
Be capable of achieving the operation conversion of separate unit action control and Duo Tai actions control simultaneously, control content include mobile control, elevating control,
The separation and cooperation clamping control of clamping jaw pair.
Described clamping jaw 1（5）, clamping jaw 2（6）Installed in clamping jaw actuating arm（4）On, by its internal hydraulic air positioned opposite
Cylinder is realized to clamping jaw 1（5）With clamping jaw 2（6）Independent control, meet multi-state functional need, that is, meet clamping jaw pair separation and
Coordinate clamping control operation requirement.
Workflow of the invention is：
Can complete originally can in groups coordinate feeding mechanical arm assembly unit according to the space of erecting yard and actual demand situation
Unit or multimachine arrangement, configure one or more hand held controllers, each controller optionally controls all devices list
Unit, one unit of same time only allows a controller to implement control.
Because field condition is complicated, when using, hand held controller is manually operated, list therein is selected according to live actual requirement
Machine or multimachine, typically first can individually select certain specific unit position of regulation control to move in place, then master control multimachine is completed such as jointly
The tasks such as transport, the upset of product.After selecting specific unit, the mobile foundation of controller and selected order machine（1）Interior band logical
Communication function movement controller confirms docking communication, carries out parameter setting and regulation is controlled, and can such as drive mobile foundation（1）Bottom is moved
Driving wheel realize straight trip and turn to control the unit position move, can be by controlling clamping jaw 1（5）, clamping jaw 2（6）Separate relative cloth
The hydraulic cylinder put is controllable to be vertically moved up or down to realize that setting clamping jaw 1 and clamping jaw 2 separates or mated condition and clamping dynamics function
Arm（2）Lifting distance and rotation driving disk（3）The anglec of rotation is realizing regulation clamping jaw its clamped height, the function of angle.Work as needs
When multimachine coordinates the task such as regular shape and transport, the upset of symmetrical product of completion, can first unit regulation it is in place, selected multimachine afterwards
Carry out one and control multioperation, multimachine performs same operation order, simplifies operating procedure.
Claims (3)
1. one kind can in groups coordinate feeding mechanical arm assembly, including mobile foundation（1）, vertical lift arm（2）, rotation driving disk
（3）, clamping jaw actuating arm（4）, clamping jaw 1（5）, clamping jaw 2（6）, it is characterised in that vertical lift arm（2）With clamping jaw actuating arm（4）By
Hydraulic cylinder drives, and realizes lifting and clamps regulation, rotation driving disk（3）Driven by servomotor, it is real to drive clamping jaw actuating arm
（4）Regulation is turned to.
2. one kind according to claim 1 can in groups coordinate feeding mechanical arm assembly, it is characterised in that described mobile base
Seat（1）Controller including internal drive motor, the multidirectional movable pulley in bottom and with communication function, bottom is driven by internal drive motor
Portion movable pulley realizes straight trip and turns to, from inside realized with communication function controller individually control or in groups with when multimachine lead to
News and action coordinate, the robot arm device can individually, in groups, multigroup use cooperatively.
3. one kind according to claim 1 can in groups coordinate feeding mechanical arm assembly, it is characterised in that described clamping jaw 1
（5）, clamping jaw 2（6）Installed in clamping jaw actuating arm（4）On, realized to clamping jaw 1 by internal hydraulic pressure cylinder（5）With clamping jaw 2（6）List
Solely control, meets multi-state functional need.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125540.6A CN106697926A (en) | 2017-03-04 | 2017-03-04 | Mechanical arm device capable of forming set to cooperatively feed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125540.6A CN106697926A (en) | 2017-03-04 | 2017-03-04 | Mechanical arm device capable of forming set to cooperatively feed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106697926A true CN106697926A (en) | 2017-05-24 |
Family
ID=58912100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710125540.6A Withdrawn CN106697926A (en) | 2017-03-04 | 2017-03-04 | Mechanical arm device capable of forming set to cooperatively feed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106697926A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108857492A (en) * | 2018-07-11 | 2018-11-23 | 怀宁县鑫盛制冷设备有限公司 | A kind of clamping and fixing device of refrigeration equipment installation part |
-
2017
- 2017-03-04 CN CN201710125540.6A patent/CN106697926A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108857492A (en) * | 2018-07-11 | 2018-11-23 | 怀宁县鑫盛制冷设备有限公司 | A kind of clamping and fixing device of refrigeration equipment installation part |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170524 |
|
| WW01 | Invention patent application withdrawn after publication |